Abstract
In this paper, we described an approach for 3D object reconstruction using simulated laser range finder (LRF) data. For the purpose of automatic registration of multiple views of LRF data without apriori knowledge of the views, such as location and direction, planar faces are extracted from the LRF data, and by automatically identifying the corresponding pairs of planar faces, the spatial relationships (the rotation matrixes and the shift vectors) between the views are estimated. To extract planar faces reliably from erroneous LRF data, the MDL (minimum description length) principle is used. In registrating multiple views, two steps-local and global registration-are used to find transformations to avoid the accumulation of registration errors between all the views.
